CN104765374A - High-orbit natural-flying-around-track correcting method - Google Patents

Abstract

The invention discloses a high-orbit natural-flying-around-track correcting method. The high-orbit natural-flying-around-track correcting method includes the steps of at the flying-around starting point position, calculating to build the speed increment of a natural flying-around track, and outputting the speed increment to a thruster for execution; according to a flying-around-starting-point effective relative navigation result, based on a CW equation analytical solution, calculating the relative position, corresponding to the current moment, of a nominal track in an extrapolation mode; determining the position deviation between the relative position corresponding to the nominal track at the same phase angle and the relative position of the relative navigation result, building a deviation mark if the position deviation exceeds a preset threshold value, calculating the speed deviation between the relative speed, corresponding to the current phase angle, of the relative navigation result and the relative speed of the nominal track, calculating the acceleration control quantity according to the position deviation and the speed deviation, and calculating a pulse output command according to the acceleration control quantity. By means of the high-orbit natural-flying-around-track correcting method, the distance deviation caused by orbit perturbation and the error of an execution mechanism can be corrected, the flight track approaches an ideal closed oval under the perturbation-free condition to the maximum degree, and therefore the stable flying-around track is built.

Description

A kind of high rail is diversion track correct method naturally

Technical field

The invention belongs to high orbit Spacecraft Relative Motion control technology field, relate to a kind of nominal trajectory control method for correcting be naturally diversion.

Background technology

High rail telstar, Navsat, because its value is high, rail position resource valuable, is served in-orbit its inert satellite and are become an important development direction.Before approaching operation, be the only stage which must be passed by of spatial operation to its observation of being diversion, compared with low rail, high rail satellite orbit period is long, is no less than 24 hours, and track mainly affects by the uneven Gravitational perturbation of the earth.Naturally the proper motion track that the i.e. pursuit spacecraft that is diversion rotated around passive space vehicle with an orbital period, linearly change equation analytic solution and see, be a positive elliptical orbit of 2:1, semi-major axis is positioned at track tangential velocity direction.High rail satellite orbit semi-major axis is large, and the cycle is long, and large by the J22 Perturbation Effect that resonates, show as secular term, therefore an orbital period drifts about the oval deviation of comparatively nominal comparatively greatly, and the non-closed being formed with certain opening is diversion track.But the main load camera of observation does not generally have automatic focusing ability, or autonomous focusing ability is more weak, and this just requires to be diversion track must be known in advance, and deviate will control within the scope of tens meters.

Summary of the invention

Technical matters to be solved by this invention is, a kind of high rail is provided naturally to be diversion track correct method, the range deviation caused by orbit perturbation and topworks's error can be revised, at utmost make flight path approach without the ideal taken the photograph under condition closed oval, thus set up the stable track that is diversion.

The present invention includes following technical scheme:

A kind of high rail is diversion track correct method naturally, and be naturally diversion in process at high rail, pursuit spacecraft relative target spacecraft moves, and pursuit spacecraft can export the Relative Navigation result relative to passive space vehicle motion in real time; Relative Navigation result comprises relative position and relative velocity; It is characterized in that, step is as follows:

(1) at the start position that is diversion, calculate according to Relative Navigation result and set up nature and to be diversion the speed increment of track, and export to each axle thrust device and perform, thus set up the track that is diversion; The Relative Navigation result exported by pursuit spacecraft after thruster is finished is as the effective Relative Navigation result of starting point of being diversion;

(2) according to being diversion the effective Relative Navigation result of starting point, relative position corresponding to current time nominal trajectory is calculated based on the extrapolation of CW equation analytic solution;

(3) corresponding current phase angle is determined according to current time and target track angular velocity, determine the position deviation between the relative position that same phasing degree nominal trajectory is corresponding and the relative position of Relative Navigation result, judge whether described position deviation exceedes predetermined threshold value, if exceed predetermined threshold value, then set up deviation mark, proceed to step (4); If do not exceed predetermined threshold value, return the calculating that step (2) enters next cycle;

(4) velocity deviation between the relative velocity of Relative Navigation result corresponding to current phase angle and nominal trajectory relative velocity is calculated, utilize nonlinear pid controller to calculate Acceleration Control amount according to described position deviation and velocity deviation, calculate the pulse-output instruction being applied to each axle thrust device according to Acceleration Control gauge;

(5) judge whether a N continuous cyclic position error is less than predetermined threshold value; If a N continuous cyclic position error is less than predetermined threshold value, removes deviation mark, using the position of current time as the new start position that is diversion, proceed to step (1) and re-establish the track that is diversion; Otherwise, proceed to the calculating that step (2) carries out next cycle.

Described step (1) calculates to be set up the be diversion computing formula of speed increment of track of nature and is:

${\mathrm{\Δv}}_x=2\mathrm{\ω}{z}_0^{-}-{\stackrel{\·}{x}}_0^{-}$

Δv _y＝0

${\mathrm{\Δv}}_z=-\frac{\mathrm{\ω}}{2}{x}_0^{-}-{\stackrel{\·}{z}}_0^{-}$

be respectively relative position and the relative velocity in be diversion start position Relative Navigation result x direction and z direction under passive space vehicle orbital coordinate system; ω is the orbit angular velocity of passive space vehicle; Δ v _x, Δ v _y, Δ v _zfor three axle speed increments under passive space vehicle orbital coordinate system.

The computing formula of described step (2) is:

$x_d=(x_0+\frac{2}{\mathrm{\ω}}{\stackrel{\·}{z}}_0)+({6\mathrm{\ωz}}_0-3{\stackrel{\·}{x}}_0)(t-t_0)+(\frac{4}{\mathrm{\ω}}{\stackrel{\·}{x}}_0-{6z}_0)\sin \mathrm{\φ}-\left(\frac{2}{\mathrm{\ω}}{\stackrel{\·}{z}}_0\right)\cos \mathrm{\φ}$

$y_d=\frac{{\stackrel{\·}{y}}_0}{\mathrm{\ω}}\sin \mathrm{\φ}+y_0\cos \mathrm{\φ}$

$z_d=({4z}_0-\frac{2}{\mathrm{\ω}}{\stackrel{\·}{x}}_0)+\left(\frac{{\stackrel{\·}{z}}_0}{\mathrm{\ω}}\right)\sin \mathrm{\φ}+(\frac{2}{\mathrm{\ω}}{\stackrel{\·}{x}}_0-{3z}_0)\cos \mathrm{\φ}$

X _d, y _d, z _dthe relative position that the current time nominal trajectory calculated for extrapolating is corresponding; φ is phasing degree, φ=ω (t-t ₀), t is current time, t ₀for the initial time that is diversion; be respectively relative position and the relative velocity of the effective Relative Navigation result of starting point of being diversion, ω is the orbit angular velocity of passive space vehicle.

In described step (4), nominal trajectory relative velocity computing formula is as follows:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_d=({6\mathrm{\ωz}}_0-3{\stackrel{\·}{x}}_0)+(4{\stackrel{\·}{x}}_0-{6\mathrm{\ωz}}_0)\cos \mathrm{\φ}+2{\stackrel{\·}{z}}_0\sin \mathrm{\φ}\\ {\stackrel{\·}{y}}_d={\stackrel{\·}{y}}_0\cos \mathrm{\φ}-y_0\mathrm{\ω}\sin \mathrm{\φ}\\ {\stackrel{\·}{z}}_d={\stackrel{\·}{z}}_0\cos \mathrm{\φ}-(2{\stackrel{\·}{x}}_0-{3\mathrm{\ωz}}_0)\sin \mathrm{\φ}\end{array}\right.$

for the relative velocity that nominal trajectory is corresponding.

In described step (4), the computing formula of Acceleration Control amount is:

$a_x={\stackrel{\·\·}{x}}_d-k_p(x-x_d)-k_d(\stackrel{\·}{x}-{\stackrel{\·}{x}}_d)-2\mathrm{\ω}\stackrel{\·}{z}$

$a_y={\stackrel{\·\·}{y}}_d-k_p(y-y_d)-k_d(\stackrel{\·}{y}-{\stackrel{\·}{y}}_d)+{\mathrm{\ω}}^2$

$a_z={\stackrel{\·\·}{z}}_d-k_p(z-z_d)-k_d(\stackrel{\·}{z}-{\stackrel{\·}{z}}_d)+2\mathrm{\ω}\stackrel{\·}{x}-3{\mathrm{\ω}}^{2}z$

A _x, a _y, a _zfor Acceleration Control amount, k _p, k _dfor control coefrficient, for relative position and the relative velocity of Relative Navigation result corresponding to current phase angle; for the relative acceleration that nominal trajectory is corresponding.

The present invention compared with prior art tool has the following advantages:

The high rail that the present invention proposes is diversion track correct method naturally, long for the high rail orbital period, naturally the relative orbit that flies is subject to the problem that Perturbation Effect is large, based target orbital phase angle independent variable, the difference of Relative Navigation result and linear equation being resolved is as overproof judgment criterion, switching at runtime orbits controlling pattern, overproof for relative distance satellite is withdrawn on nominal elliptical orbit, then recalculate nature to be diversion required speed increment vector, thus ensure that relevant path is along nominal elliptic motion, formed closed oval in starting point of being diversion, thus set up the stable track that is diversion, the present invention, by setting up the stable track that is diversion, reduces the zoom requirement to high-resolution image camera, ensure that sunniness direction is stablized, thus image quality is stablized.

Accompanying drawing explanation

Fig. 1 is that high rail satellite is diversion schematic diagram naturally.

Fig. 2 is that the present invention is diversion the schematic diagram of track correct method naturally.

Fig. 3 is for the track that is diversion is at XZ plane projection simulation curve.

Fig. 4 is X-axis relative position and relative velocity change curve, and upper figure is relative position, and figure below is relative velocity.

Fig. 5 is Y-axis relative position and relative velocity change curve, and upper figure is relative position, and figure below is relative velocity.

Fig. 6 is Z axis relative position and relative velocity change curve, and upper figure is relative position, and figure below is relative velocity.

Embodiment

Just by reference to the accompanying drawings the present invention is described further below.

High rail satellite is diversion process schematic as shown in Figure 1 naturally, passive space vehicle does not carry out rail control, free flight, orbit parameter only affects by compression of the earth J2 perturbation and solar light pressure, pursuit spacecraft to be diversion a circle from any reference position, process of being diversion attitude keeps directed to passive space vehicle, completes the imaging to passive space vehicle by high-resolution image camera.Pursuit spacecraft is configured with relative measuring device, and obtained the Relative Navigation result of current time in real time by Kalman filtering, Relative Navigation result comprises relative position and relative velocity.

Ideally, do not consider the linearization deviation of perturbation and relative motion, two Spacecraft Relative Motions meet CW equation, namely closed 2:1 elliptical orbit, but, naturally the cycle of being diversion is consistent with the orbital period, and high rail satellite orbit period is greater than 24 hours, and the accumulation factor by perturbation and linearization deviation affects greatly.For ensureing that image-forming range is in pinpointed focus scope, needs, according to nominal trajectory deviation situation, to revise in real time relative position.Consider the phase problem that nature is diversion, the vector angle of be diversion a circle and the sun remains unchanged, and for good imaging illumination condition created by camera, therefore, the independent variable of track correct elects phasing degree as, instead of simply uses the time.

As shown in Figure 2, be naturally the diversion step of track correct method of high rail of the present invention is as follows:

One, set up nature to be diversion track

At the start position that is diversion, according to Relative Navigation result, according to the starting condition of CW equation closed solution, the each axle speed increment be diversion needed for track is set up under calculating current location and speed conditions, and be converted into pulsewidth form, performed by each axle thrust device, thus set up nature and to be diversion track; The Relative Navigation result exported by pursuit spacecraft after thruster is finished is as the effective Relative Navigation result of starting point of being diversion.The described start position that is diversion may be optional position.

Ideally, the nominal trajectory that is naturally diversion, for centered by passive space vehicle, is tangentially semi-major axis, the radial ellipse that is diversion for semi-minor axis.

The computing formula setting up each axle speed increment be diversion needed for track is:

${\mathrm{\Δv}}_x=2\mathrm{\ω}{z}_0^{-}-{\stackrel{\·}{x}}_0^{-}$

Δv _y＝0

${\mathrm{\Δv}}_z=-\frac{\mathrm{\ω}}{2}{x}_0^{-}-{\stackrel{\·}{z}}_0^{-}$

be respectively be diversion start position Relative Navigation result OX axle and the axial relative position of OZ and relative velocity under passive space vehicle orbital coordinate system; Described relative position and speed all represent under passive space vehicle orbital coordinate system, and ω is the orbit angular velocity of passive space vehicle; Δ v _x, Δ v _y, Δ v _zfor three axle speed increments under passive space vehicle orbital coordinate system.

Passive space vehicle orbital coordinate system is defined as follows:

Initial point: coordinate origin is positioned at passive space vehicle barycenter place orbital position;

OZ axle: the positive dirction of OZ axle points to the earth's core from initial point;

OY axle: vertical with passive space vehicle orbital plane, points to track normal in the other direction

OX axle: OX is positioned at orbital plane is deflection passive space vehicle velocity reversal, vertical with OY axle, OZ axle.

OXYZ coordinate system meets right-handed coordinate system, and when passive space vehicle fixed point points to the earth's core, body coordinate system overlaps with orbital coordinate system.

Two, according to be diversion the effective Relative Navigation result of starting point, based on CW equation analytic solution, extrapolation calculates current time nominal and to be diversion relative position corresponding to track;

Computing formula is:

$x_d=(x_0+\frac{2}{\mathrm{\ω}}{\stackrel{\·}{z}}_0)+({6\mathrm{\ωz}}_0-3{\stackrel{\·}{x}}_0)(t-t_0)+(\frac{4}{\mathrm{\ω}}{\stackrel{\·}{x}}_0-{6z}_0)\sin \mathrm{\φ}-\left(\frac{2}{\mathrm{\ω}}{\stackrel{\·}{z}}_0\right)\cos \mathrm{\φ}$

$y_d=\frac{{\stackrel{\·}{y}}_0}{\mathrm{\ω}}\sin \mathrm{\φ}+y_0\cos \mathrm{\φ}$

$z_d=({4z}_0-\frac{2}{\mathrm{\ω}}{\stackrel{\·}{x}}_0)+\left(\frac{{\stackrel{\·}{z}}_0}{\mathrm{\ω}}\right)\sin \mathrm{\φ}+(\frac{2}{\mathrm{\ω}}{\stackrel{\·}{x}}_0-{3z}_0)\cos \mathrm{\φ}$

X _d, y _d, z _dfor the three axle relative positions that nominal trajectory is corresponding; φ is phasing degree, φ=ω (t-t ₀), t is current time, t ₀for the initial time that is diversion.

Three, corresponding phasing degree is determined according to current time and target track angular velocity, determine the relative position deviation of the relative position that same phasing degree nominal trajectory is corresponding and Relative Navigation result, judge whether described position deviation exceedes predetermined threshold value, if exceed predetermined threshold value, then set up deviation mark, proceed to step 4; If do not exceed predetermined threshold value, return the calculating that step 2 enters next cycle.

Described predetermined threshold value can be such as 50m.

Four, the velocity deviation between the relative velocity of Relative Navigation result corresponding to current phase angle and nominal trajectory relative velocity is calculated, utilize nonlinear pid controller to calculate Acceleration Control amount according to position deviation, velocity deviation, relative acceleration that nominal trajectory is corresponding, calculate the pulse-output instruction being applied to each axle thrust device according to Acceleration Control gauge.

Nominal trajectory relative velocity computing formula is as follows:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_d=({6\mathrm{\ωz}}_0-3{\stackrel{\·}{x}}_0)+(4{\stackrel{\·}{x}}_0-{6\mathrm{\ωz}}_0)\cos \mathrm{\φ}+2{\stackrel{\·}{z}}_0\sin \mathrm{\φ}\\ {\stackrel{\·}{y}}_d={\stackrel{\·}{y}}_0\cos \mathrm{\φ}-y_0\mathrm{\ω}\sin \mathrm{\φ}\\ {\stackrel{\·}{z}}_d={\stackrel{\·}{z}}_0\cos \mathrm{\φ}-(2{\stackrel{\·}{x}}_0-{3\mathrm{\ωz}}_0)\sin \mathrm{\φ}\end{array}\right.$

for the three axle relative velocities that nominal trajectory is corresponding;

Nominal trajectory relative acceleration computing formula is as follows:

$\left\{\begin{array}{c}{\stackrel{\·\·}{x}}_d=2\mathrm{\ω}{\stackrel{\·}{z}}_d\\ {\stackrel{\·\·}{y}}_d=-{\mathrm{\ω}}^2{y}_d\\ {\stackrel{\·\·}{z}}_d=-2\mathrm{\ω}{\stackrel{\·}{x}}_d+{3\mathrm{\ω}}^2{z}_d\end{array}\right.$

for the three axle relative accelerations that nominal trajectory is corresponding.

Nonlinear pid controller can be written as

$a_x={\stackrel{\·\·}{x}}_d-k_p(x-x_d)-k_d(\stackrel{\·}{x}-{\stackrel{\·}{x}}_d)-2{\mathrm{\ω}}_0\stackrel{\·}{z}$

$a_y={\stackrel{\·\·}{y}}_d-k_p(y-y_d)-k_d(\stackrel{\·}{y}-{\stackrel{\·}{y}}_d)+{{\mathrm{\ω}}_0}^2$

$a_z={\stackrel{\·\·}{z}}_d-k_p(z-z_d)-k_d(\stackrel{\·}{z}-{\stackrel{\·}{z}}_d)+2{\mathrm{\ω}}_0\stackrel{\·}{x}-3{{\mathrm{\ω}}_0}^{2}z$

A _xa _ya _zfor acceleration three axle controlled quentity controlled variable, k _p, k _dfor control coefrficient, be known quantity, can adjust according to concrete spacecraft; for relative position and the relative velocity of Relative Navigation result corresponding to current phase angle; The relative acceleration that in formula, nominal trajectory is corresponding is negligible.

Five, judge whether a N continuous cyclic position error is less than predetermined threshold value; If a N continuous cyclic position error is less than predetermined threshold value, removes deviation mark, using the position of current time as the new start position that is diversion, proceed to step one and re-establish the track that is diversion; Otherwise, proceed to the calculating that step 2 carries out next cycle.Described N can be 5.

The present invention passive space vehicle orbital phase angle replaces the time of CW equation as independent variable, thus compares trajector deviation at the same phasing degree of relative movement orbit, makes the revised track continuous (phasing degree is continuous) that is diversion to greatest extent.By above-mentioned control method, according to Relative Navigation result, switching at runtime control model, revise the range deviation caused by orbit perturbation and topworks's error, flight path is at utmost made to approach without the ideal taken the photograph under condition closed oval, in order to be diversion, process blur-free imaging provides condition, and in addition, the essential characteristic be naturally diversion ensure that the consistance of illumination condition.Fig. 3 gives a circle and to be diversion the projection of track in orbital plane, can see there be twice error correction process.Fig. 4 gives corresponding x-axis position and speed change curves, Fig. 5 gives y-axis position and speed change curves, and Fig. 6 gives z-axis position and speed change curves, can find out, the correction of twice trajector deviation is effective, and relative movement orbit comparatively fast can converge to nominal trajectory.

High rail proposed by the invention track correct method of being naturally diversion has been successfully applied to high rail test satellite conceptual design.Simulation result shows by adopting high rail to be naturally diversion track correct method, and the course location deviation that makes to be diversion controls within 50m, and can form the closed ellipse that is diversion, sun remains unchanged according to condition simultaneously.The high rail that the present invention proposes is diversion track correct method naturally, simple, effectively, have better market application foreground, the spacecraft tasks in areas that the targeted surveillance that can be applied to closely naturally to be diversion etc. are higher to relevant path accuracy requirement.

The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.

Claims (7)

1. high rail is diversion a track correct method naturally, is naturally diversion in process at high rail, and pursuit spacecraft relative target spacecraft moves, and pursuit spacecraft can export the Relative Navigation result relative to passive space vehicle motion in real time; Relative Navigation result comprises relative position and relative velocity; It is characterized in that, step is as follows:

(1) at the start position that is diversion, calculate according to Relative Navigation result and set up nature and to be diversion the speed increment of track, and export to each axle thrust device and perform, thus set up the track that is diversion; The Relative Navigation result exported by pursuit spacecraft after thruster is finished is as the effective Relative Navigation result of starting point of being diversion;

(2) according to being diversion the effective Relative Navigation result of starting point, relative position corresponding to current time nominal trajectory is calculated based on the extrapolation of CW equation analytic solution;

(3) corresponding current phase angle is determined according to current time and target track angular velocity, determine the position deviation between the relative position that same phasing degree nominal trajectory is corresponding and the relative position of Relative Navigation result, judge whether described position deviation exceedes predetermined threshold value, if exceed predetermined threshold value, then set up deviation mark, proceed to step (4); If do not exceed predetermined threshold value, return the calculating that step (2) enters next cycle;

(4) velocity deviation between the relative velocity of Relative Navigation result corresponding to current phase angle and nominal trajectory relative velocity is calculated, utilize nonlinear pid controller to calculate Acceleration Control amount according to described position deviation and velocity deviation, calculate the pulse-output instruction being applied to each axle thrust device according to Acceleration Control gauge;

(5) judge whether a N continuous cyclic position error is less than predetermined threshold value; If a N continuous cyclic position error is less than predetermined threshold value, removes deviation mark, using the position of current time as the new start position that is diversion, proceed to step (1) and re-establish the track that is diversion; Otherwise, proceed to the calculating that step (2) carries out next cycle.

2. the high rail of one according to claim 1 is diversion track correct method naturally, it is characterized in that, described step (1) calculates to be set up the be diversion computing formula of speed increment of track of nature and be:

${\mathrm{\Δv}}_x={2\mathrm{\ωz}}_0^{-}-{\stackrel{\·}{x}}_0^{-}$

Δv _y＝0

${\mathrm{\Δv}}_z=-\frac{\mathrm{\ω}}{2}{x}_0^{-}-{\stackrel{\·}{z}}_0^{-}$

be respectively be diversion start position Relative Navigation result OX axle and the axial relative position of OZ and relative velocity under passive space vehicle orbital coordinate system; ω is the orbit angular velocity of passive space vehicle; Δ v _x, Δ v _y, Δ v _zfor three axle speed increments under passive space vehicle orbital coordinate system.

3. the high rail of one according to claim 1 is diversion track correct method naturally, and it is characterized in that, the computing formula of described step (2) is:

$x_d=(x_0+\frac{2}{\mathrm{\ω}}{\stackrel{\·}{z}}_0)+({6\mathrm{\ωz}}_0-3{\stackrel{\·}{x}}_0)(t-t_0)+(\frac{4}{\mathrm{\ω}}{\stackrel{\·}{x}}_0-{6z}_0)\sin \mathrm{\φ}-\left(\frac{2}{\mathrm{\ω}}{\stackrel{\·}{z}}_0\right)\cos \mathrm{\φ}$

$y_d=\frac{{\stackrel{\·}{y}}_0}{\mathrm{\ω}}\sin \mathrm{\φ}+y_0\cos \mathrm{\φ}$

$z_d=({4z}_0-\frac{2}{\mathrm{\ω}}{\stackrel{\·}{x}}_0)+\left(\frac{{\stackrel{\·}{z}}_0}{\mathrm{\ω}}\right)\sin \mathrm{\φ}+(\frac{2}{\mathrm{\ω}}{\stackrel{\·}{x}}_0-{3z}_0)\cos \mathrm{\φ}$

X _d, y _d, z _dthe relative position that the current time nominal trajectory calculated for extrapolating is corresponding; φ is phasing degree, φ=ω (t-t ₀), t is current time, t ₀for the initial time that is diversion; x ₀, y ₀, z ₀, be respectively relative position and the relative velocity of the effective Relative Navigation result of starting point of being diversion, ω is the orbit angular velocity of passive space vehicle.

4. the high rail of one according to claim 1 is diversion track correct method naturally, and it is characterized in that, in described step (4), nominal trajectory relative velocity computing formula is as follows:

$\left\{\begin{array}{c}{\stackrel{\·}{x}}_d=({6\mathrm{\ωz}}_0-3{\stackrel{\·}{x}}_0)+(4{\stackrel{\·}{x}}_0-4\mathrm{\ω}{z}_0)\cos \mathrm{\φ}+2{\stackrel{\·}{z}}_0\sin \mathrm{\φ}\\ {\stackrel{\·}{y}}_d={\stackrel{\·}{y}}_0\cos \mathrm{\φ}-y_0\mathrm{\ω}\sin \mathrm{\φ}\\ {\stackrel{\·}{z}}_d={\stackrel{\·}{z}}_0\cos \mathrm{\φ}-(2{\stackrel{\·}{x}}_0-3\mathrm{\ω}{z}_0)\sin \mathrm{\φ}\end{array}\right.$

for the relative velocity that nominal trajectory is corresponding.

5. the high rail of one according to claim 1 is diversion track correct method naturally, and it is characterized in that, in described step (4), the computing formula of Acceleration Control amount is:

$a_x={\stackrel{\·\·}{x}}_d-k_p(x-x_d)-k_d(\stackrel{\·}{x}-{\stackrel{\·}{x}}_d)-2\mathrm{\ω}\stackrel{\·}{z}$

$a_y={\stackrel{\·\·}{y}}_d-k_p(y-y_d)-k_d(\stackrel{\·}{y}-{\stackrel{\·}{y}}_d)+{\mathrm{\ω}}^2$

$a_z={\stackrel{\·\·}{z}}_d-k_p(z-z_d)-k_d(\stackrel{\·}{z}-{\stackrel{\·}{z}}_d)+2\mathrm{\ω}\stackrel{\·}{x}-3{\mathrm{\ω}}^{2}z$

A _x, a _y, a _zfor Acceleration Control amount, k _p, k _dfor control coefrficient, x, y, z, for relative position and the relative velocity of Relative Navigation result corresponding to current phase angle; for the relative acceleration that nominal trajectory is corresponding.

6. the high rail of one according to claim 5 is diversion track correct method naturally, it is characterized in that, be zero.

7. the high rail of one according to claim 5 is diversion track correct method naturally, and it is characterized in that, the computing formula of the relative acceleration that nominal trajectory is corresponding is as follows:

$\left\{\begin{array}{c}{\stackrel{\·\·}{x}}_d=2\mathrm{\ω}{\stackrel{\·}{z}}_d\\ {\stackrel{\·\·}{y}}_d=-{\mathrm{\ω}}^2{y}_d\\ {\stackrel{\·\·}{z}}_d=-2\mathrm{\ω}{\stackrel{\·}{x}}_d+3{\mathrm{\ω}}^2{z}_d\end{array}\right..$